Configuration of the paramters is accomplished by a serial protocol.
The user will not access the serial line directly, he will use a graphical user interface (GUI) running on a host pc.
A proper gui tool (blg-tool) is located in the GUI folder.
The Arduino Serial Monitor can be used for debugging purposes.
Arduino -> Tools -> Serial Monitor Settings
Baudrate: 11200 Baud, NL and CR
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List of serial commands
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sd # set defaults
we # write config to eeprom
re # restore config from eeprom
gc # calibrate gyro
ac # calibrate acc
sbv # save battery voltage
sc <n> # select specific eeprom config set <n>
par <parName> <parValue> # general parameter read/set command
e.g.
par # list all config parameters
par gyroPitchKi # list gyroPitchKi
par gyroPitchKi 12000 # set gyroPitchKi to 12000
ver # print firmware version string
he # print help
The firmware version string is printed at the end of a "par" list command
e.g. "BruGi version 49 r190"
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Config Parameters (list with "par")
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gyroPitchKp/gyroRollKp
pid controller P-value
gyroPitchKi/gyroRollKi
pid controller I-value
gyroPitchKd/gyroRollKd
pid controller D-value
accTimeConstant
time constant of ACC complementary filter.
controls how fast the gimbal follows ACC.
unit = 1 sec, e.g. 7 = 7 seconds
angleOffsetPitch/angleOffsetRoll
offset of gimbal zero position
unit = 0.01 deg, e.g. 500 = 5.00 deg
dirMotorPitch
dirMotorRoll
motor direction
1 = normal, -1 = reverse direction
motorNumberPitch
motorNumberRoll
assign motor output for pitch and roll, legal values are 0 or 1
maxPWMmotorPitch
maxPWMmotorRoll
motor power, legal range 0 to 255
refVoltageBat
reference voltage for power scale mode
In power scale mode the motor power is compensated for power supply changes
Save the voltage value at which the PWM paramters have been set, as a reference.
cutoffVoltage
if supply voltage drops below this value motor power is switched off.
Can be used to avoid low battery discharge.
motorPowerScale
voltage divider resistors must be mounted to use the power scale feature (see Voltage-Sense-Modification folder)
0 ... power scale mode off
1 ... power scale mode ON
rcAbsolutePitch
rcAbsoluteRoll
0 ... RC Relative Mode, gimbal position is incremented/decremented by RC
1 ... RC Absolute Mode, RC controls gimbal directly
minRCPitch
minRCRoll
RC minimum set point angle, unit = 1 deg
maxRCPitch
maxRCRoll
RC maximum set point angle, unit = 1 deg
rcGainPitch
rcGainRoll
RC gain in Relative mode, specifies speed of gimbal movement
rcLPFPitch
rcLPFRoll
RC low pass filter in Absolute mode, specifies speed of gimbal movement
unit = 0.1 sec, e.g. 20 = 2.0 seconds
rcModePPMPitch
rcModePPMRoll
rcModePPMAux
rcModePPMFpvP
rcModePPMFpvR
selects the RC input mode for Pitch,Roll,Aux, FpvPitch and FpvRoll functions
0 ... use RC PWM (pulse width modulation, 1.0-2.0 ms) input source
1 ... use RC PPM (rc sum signal) input source
input A2 = PWM channel 1 or PPM, if rcModePPM is select for at least once
input A1 = PWM channel 2
input A0 = PWM channel 3
rcChannelPitch
rcChannelRoll
rcChannelAux
rcChannelFpvP
rcChannelFpvR
select the source channel number for each Pitch,Roll,Aux, FpvPitch and FpvRoll function
in PPM mode: channel numbers 0...15 select PPM channel 1...16
in PWM mode: channel numbers 0...2 refer to the input channel 1...3
note: if PPM is used, PWM channel 1 is not available for PWM
rcChannelPt0
rcChannelPt1
selects the PPM channel to be output as PWM on either A2 or A1 (see rcPinModeCH1/rcPinModeCH2)
fpvGainPitch
fpvGainRoll
gain of FPV (first person view) channel.
When switch into FPV mode (my switch fpvSw) the fpv channel controls the camera postion,
instead of the primary Rc channel.
The amount of travel can be set by this number.
rcLPFPitchFpv
rcLPFRollFpv
low pass filter constant in FPV mode
rcMid
pulse withc of the center position of pwm/ppm rc channels
default 1500 usec
fTrace
fast trace mode
data and status information is sent regulary with 25 Hz rate
0 ... off
1 ... trace RC data
2 ... trace AUX
3 ... trace IMU
4 ... trace ACC
5 ... trace GYRO
6 ... trace PID pitch
7 ... trace PID roll
8 ... trace angles (legacy OAC)
sTrace
slow trace mode
data and status information is sent regulary with 10 Hz rate
0 ... off
1 ... trace RC data
2 ... trace AUX
3 ... trace IMU
4 ... trace ACC
5 ... trace GYRO
6 ... trace PID pitch
7 ... trace PID roll
8 ... trace angles (legacy OAC)
9 ... trace ALL (cycles through 1...7)
(see Trace.ino for actual modes)
enableGyro
enableACC
1 ... enable Gyro/ACC update in control loop
just for test and adjustment purposes
axisReverseZ
0 ... sensor is mounted with component side up
1 ... sensor is mounted with component side down
axisSwapXY
0 ... standard X/Y sensor orientation
1 ... swap X/Y, exchange roll/pitch function, when sensor is rotated 90 degrees
fpvSwPitch
fpvSwRoll
select switch function (sw1 or sw2) for fpv mode switchover
altSwAccTime
select switch function (sw1 or sw2) for alternate acc time switchover
accTimeConstant2
alternate acc time constant, as activated by alsSwAccTime
gyroCal
enable gyro calibration at startup
0 ... no gyro calibration at startup, use gyroOffset values from EEPROM/flash instead
1 ... perform gyro calibartion each time at startup (default)
gyrOffsetX
gyrOffsetY
gyrOffsetZ
gyro offset values, set at gyro calibration (gc command)
accOffsetX
accOffsetY
accOffsetZ
acc offset values, they are set at acc calibration (ac command).
Acc calibration should be done for at least to sensor positions.
e.g. for vertical (90 deg) and for horizontal (0 deg).
rcPinModeCH0
rcPinModeCH1
rcPinModeCH2
mode of input A2(CH0), A1(CH1), A0(CH2)
0 ... disable
1 ... RC pwm input (on A2(Ch0) either ppm or pwm)
2 ... analog input
3 ... RC pwm output (pass trough of PPM channels rcChannelPt0/rcChannelPt1), no valid in A2(CH0) as this is the PPM input
configSet
active config set in EEPROM.
select between several config sets stored in EEPROM.
valid range 0..2